Glider Fleet Configurations

Deployment ru44-20250311T0126

Pilot Notes

loadmission ru44.mi

# ru44 SUNA DEEP

# 2022/10/28	dkaragon	initial, based on ru34.mi

# Low density abort stuff
sensor: u_abort_min_burn_time(sec)    		600   # Never drop the weight before this time
sensor: u_abort_max_burn_time(sec)    		86400 # 24 hrs, at least a tidal cycle, Always drop the weight after this time

sensor: u_reqd_depth_at_surface(m)			2.5

# Steering params
sensor: u_hd_fin_ap_run_time(secs)  		20
sensor: u_hd_fin_ap_gain(1/rad)      		1.50
sensor: u_hd_fin_ap_igain(1/rad-sec) 		0.015
sensor: u_hd_fin_ap_dgain(sec/rad) 			8.00
sensor: u_hd_fin_ap_hardover_holdoff(sec)  	30.0
#sensor: u_heading_deadband(rad) 			-1

# Altimeter settings:
#sensor: u_min_altimeter(m)					3.7   # in, altimeter reading must be between these(inclusive)
#sensor: u_max_altimeter(m)					12.0   # the maximum range of the altimeter
#sensor: u_alt_reqd_good_in_a_row(nodim)		2
#sensor: u_alt_filter_enabled(bool)       	0
#sensor: m_altitude_rate(m/s) 				-1   	# negative avoid the bug

# Pitch params
sensor: u_pitch_ap_gain(1/rad)  			-2.0  	# -3 default
sensor: u_pitch_ap_dgain(s/rad)  			-1  	# 1 default
#sensor: u_pitch_ap_deadband(rad) 			0.087 	# 5, 3 deg default
#sensor: f_battpos_deadzone_width(inches)	0.2		# .2 default
#sensor: f_battpos_db_frac_dz(nodim)			0.5	# .5 default

# Slowing the pitch down - 10/7/20 took a quick look at ru34 dbd and it looks like defaults do well, it runs hot until about 6 m down and then starts doubling
sensor: u_min_pitch_ap_period(sec)  		30	# runs no faster
sensor: u_max_pitch_ap_period(sec) 			60  # runs at least this often

Deployment ru44-20250311T0126

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